UWB-IMU Pose Estimation for Roadheader Based on Machine Learning
Hongbo Lv, Xinyue Zheng, Yuhao Qi, Yixu Song · 2023
Abastact- The roadheader is an important equipment for mining coal underground, and precise positioning is the key technology for the intelligentization of the roadheader. This paper proposes a machine learning-based ultra wide band-inertial measurement unit (UWB-IMU) positioning method for the roadheader. By fitting the nonlinear transformation relationship between the 16 ranging values of UWB, 2 attitude angles of IMU, and the position and yaw angle of the roadheader using machine learning, the three-axis position average absolute error of the method is less than 0.10m, and the average absolute error of the three-axis attitude angle is less than 1°, which meets the positioning requirements of the roadway roadheader according to experimental verification.